Motion control of fish-like swimming robots presents many challenges due to the
unstructured environment and unmodelled governing physics of the fluid–robot interaction …

This paper is concerned with the Chaplygin sleigh with time-varying mass distribution
(parametric excitation). The focus is on the case where excitation is induced by a material …

The control and motion planning of bioinspired swimming robots is complicated by the fluid–
robot interaction, which is governed by a very high (infinite)-dimensional nonlinear system …

This article focuses on modeling and analyzing the dynamics of an autonomous unicycle.
The equations of motion of the nonholonomic multibody system are derived using the …

This paper is concerned with a nonholonomic system with parametric excitation—the
Chaplygin sleigh with time-varying mass distribution. A detailed analysis is made of the …

Differential-geometric-control theory represents a mathematically elegant combination of
differential geometry and control theory. Practically, it allows exploitation of nonlinear …

In this paper, we investigate the behavior of an underactuated mixed-dynamic
nonholonomic system, a Chaplygin sleigh, subjected to viscous dissipation and sinusoidal …

Biomimetic underwater robots use lateral periodic oscillatory motion to propel forward, which
is seen in most fishes known as body-caudal fin (BCF) propulsion. The lateral oscillatory …

Multistability is an area of interest in robotics and locomotion because the ability to achieve
multiple configurations or generate multiple gaits allows a single robotic or mechanical …

In this paper the dynamics of a Chaplygin sleigh like system are investigated. The system
consists a of a Chaplygin sleigh with an internal rotor connected by a torsional spring, which …